A Kalman filter based occlusion handler for lengthy occlusions

The Error Analysis Based on the Kalman Gain in a Position Predicting Algorithm of an Occluded Object

“…In the paper which was previously published by the author [20], it was proved that the existing Kalman filter based estimation method's noise filtration has not been adequately addressed and hence error accumulates for lengthy occlusions.…”

“…Therefore, a novel filtration mechanism based on the corrector equation of the Kalman filter was proposed in [20]. As opposed to the existing research which assumes the velocity is constant during the occlusion period, the proposed algorithm in [20] relaxes this assumption to handle occlusions with accelerations as well. Moreover, the proposed algorithm when compared with the existing algorithms under the same test conditions has given promising results.…”

“…In this presentation, an in-depth analysis which explains the reasons to get such promising results in [20] will bring forward. Moreover, the algorithm has been further tested by conducting experiments to further prove its accuracy.…”

“…Moreover, the algorithm has been further tested by conducting experiments to further prove its accuracy. To estimate the position of an object during occlusion, an equation was proposed in [20]. Section 3 summarizes the work carried out in [20].…”

“…To estimate the position of an object during occlusion, an equation was proposed in [20]. Section 3 summarizes the work carried out in [20]. In Section 4, the filtering phase of the algorithm will be discussed with a detailed description given about the selection of the Kalman Gain.…”